Class ClassifiedMap

• Defined in File classified_map.h

Nested Relationships

Nested Types

• Struct ClassifiedMap::NodeData

• Struct ClassifiedMap::QueryCache

Class Documentation

class ClassifiedMap

Public Types

using HeightType = IndexElement

using BlockHashMap = OctreeBlockHash<NodeData>

using Block = BlockHashMap::Block

using Node = BlockHashMap::Node

using Ptr = std::shared_ptr<ClassifiedMap>

using ConstPtr = std::shared_ptr<const ClassifiedMap>

using IndexedLeafVisitorFunction = std::function<void(const OctreeIndex &index, Occupancy::Mask occupancy)>

Public Functions

ClassifiedMap(FloatingPoint min_cell_width, IndexElement tree_height, const OccupancyClassifier &classifier)

ClassifiedMap(const HashedWaveletOctree &occupancy_map, const OccupancyClassifier &classifier)

ClassifiedMap(const HashedWaveletOctree &occupancy_map, const OccupancyClassifier &classifier, const HashedBlocks &esdf_map, FloatingPoint robot_radius)

inline bool empty() const

inline FloatingPoint getMinCellWidth() const

inline IndexElement getTreeHeight() const

Index3D getMinIndex() const

Index3D getMaxIndex() const

inline Index3D getMinBlockIndex() const

inline Index3D getMaxBlockIndex() const

inline IndexElement getLastResultHeight() const

void update(const HashedWaveletOctree &occupancy_map)

void update(const HashedWaveletOctree &occupancy_map, const HashedBlocks &esdf_map, FloatingPoint robot_radius)

inline bool has(const Index3D &index, Occupancy::Id occupancy_type) const

inline bool has(const OctreeIndex &index, Occupancy::Id occupancy_type) const

inline bool has(const Index3D &index, Occupancy::Mask occupancy_mask) const

inline bool has(const OctreeIndex &index, Occupancy::Mask occupancy_mask) const

inline bool isFully(const Index3D &index, Occupancy::Id occupancy_type) const

inline bool isFully(const OctreeIndex &index, Occupancy::Id occupancy_type) const

inline bool isFully(const Index3D &index, Occupancy::Mask occupancy_mask) const

inline bool isFully(const OctreeIndex &index, Occupancy::Mask occupancy_mask) const

inline bool hasBlock(const Index3D &block_index) const

inline const Block *getBlock(const Index3D &block_index) const

inline const BlockHashMap &getBlockMap() const

inline bool hasNode(const OctreeIndex &index) const

inline const Node *getNode(const OctreeIndex &index) const

inline std::pair<const Node*, HeightType> getNodeOrAncestor(const OctreeIndex &index) const

inline bool hasValue(const OctreeIndex &index) const

inline std::optional<Occupancy::Mask> getValue(const OctreeIndex &index) const

std::pair<std::optional<Occupancy::Mask>, HeightType> getValueOrAncestor(const OctreeIndex &index) const

inline auto &getHashMap()

inline const auto &getHashMap() const

template<typename IndexedBlockVisitor>
void forEachBlock(IndexedBlockVisitor visitor_fn) const

void forEachLeaf(IndexedLeafVisitorFunction visitor_fn, IndexElement termination_height = 0) const

inline void forEachLeafMatching(Occupancy::Id occupancy_type, IndexedLeafVisitorFunction visitor_fn, IndexElement termination_height = 0) const

void forEachLeafMatching(Occupancy::Mask occupancy_mask, IndexedLeafVisitorFunction visitor_fn, IndexElement termination_height = 0) const

Public Static Attributes

static constexpr int kDim = 3

struct NodeData

Public Functions

inline Occupancy::Mask occupancyMask() const

inline Occupancy::Mask childOccupancyMask(NdtreeIndexRelativeChild child_idx) const

Public Members

ChildBitset has_free

ChildBitset has_occupied

ChildBitset has_unobserved